NDLI: Trajectory planning and optimisation method for intelligent vehicle lane changing emergently

Content Provider	IET Digital Library
Author	Jiang, Haobin Shi, Kaijin Cai, Junyu Chen, Long
Abstract	The real time and adaptability of emergency lane-changing trajectory planning method is critical to the safe operation of the intelligent vehicle. This study presents the design and implementation of the trajectory planning and optimisation method of intelligent vehicle lane changing emergently based on hp-adaptive pseudospectral method. The method divides the emergency lane-changing process into the initial stage and tracking stage for trajectory planning based on road steering experiment and sigmoid functions. An hp-adaptive pseudospectral method is introduced to connect and optimise the lane-changing trajectory. PreScan and Matlab are used to simulate the planning of emergency lane-changing trajectory under six conditions, and the simulation results verify the effectiveness and real time of the planning and optimisation method. In comparison with trajectory planning methods based on polynomial functions, this method is characterised by shorter response time and safety distance and has better adaptability under different conditions.
Starting Page	1336
Ending Page	1344
Page Count	9
ISSN	1751956X
Volume Number	12
e-ISSN	17519578
Issue Number	Issue 10, Dec (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/12/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5224
Journal	IET Intelligent Transport Systems
Publisher	The Institution of Engineering and Technology
Publisher Date	2018-09-07
Access Restriction	Open
Rights License	Creative Commons Attribution-Non Commercial-No Derivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
Subject Keyword	Emergency Lane-changing Process Emergency Lane-changing Trajectory Planning Method Hp-adaptive Pseudospectral Method Initial Stage Intelligent Vehicle Lane Changing MATLAB Optimisation Optimisation Technique Path Planning PreScan Road Steering Experiment Road Traffic System Control Road Vehicle Sigmoid Function Spatial Variables Control Tracking Stage Trajectory Control Trajectory Optimisation Method
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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